JP2020162837A - Patient transport carriage, particle beam irradiation system, and particle beam irradiation method - Google Patents

Abstract

To provide a patient transport carriage, a particle beam irradiation system, and a particle beam irradiation method.SOLUTION: An embodiment of the present invention provides a patient transport carriage comprising: a top plate for carrying a patient; a driving unit for translating and/or rotating the top plate; and a driving control unit which controls the translation and/or rotation of the top plate by the driving unit, in response to the translation amount and/or rotation amount of the top plate that is received from a patient positioning apparatus provided in a particle beam treatment room.SELECTED DRAWING: Figure 1

Description

The present invention relates to a patient carrier, a particle beam irradiation system, and a particle beam irradiation method.

In particle beam therapy, a treatment method is performed in which a particle beam such as a proton beam, a heavy particle beam, or a neutron beam extracted from an accelerator is irradiated to a tumor portion (target) such as a lesion or cancer. The particle beam is radiated to the target with high precision in order to reduce the effect on normal tissues while increasing the concentration of the particle beam dose to the target.

Conventionally, before irradiating a patient with a particle beam, the patient is placed on a treatment table placed in a room for performing particle beam therapy (hereinafter referred to as "particle beam therapy room") in which a particle beam irradiation nozzle is installed. , The position of the particle beam irradiated from the irradiation nozzle and the position to be irradiated with the particle beam are aligned (referred to as "patient position setting"). That is, the particle beam irradiation position and the patient position are adjusted so that the particle beam emitted from the irradiation nozzle hits the target in the patient with high accuracy (FIG. 9A).

In the patient position setting, first, the patient is fixed to the top plate of the treatment table by using a fixture in order to suppress the deviation between the patient and the treatment table. Next, using a laser pointer or the like installed in the particle beam therapy room, rough positioning is performed from above the patient's skin between the position where the particle beam is irradiated and the site where the particle beam should be irradiated. After that, the patient is irradiated with X-rays, an X-ray image is taken, and while watching the X-ray image, the position and inclination of the top plate on which the patient is placed are adjusted to accurately position the particle beam irradiation (for example, mm). Unit) Determine. Then, after setting the patient position, particle beam therapy is started.

Generally, patient positioning takes several minutes to several tens of minutes and occupies most of the treatment time of particle beam therapy. Prolonged patient positioning in the particle therapy room also increases the time occupied by the particle therapy room per patient. As a result, it is not possible to increase the number of treatments per unit time, and it puts pressure on the time to perform quality assurance (QA) measurement of particle beams to ensure safe treatment irradiation, and medical care for doctors, nurses, radiologists, etc. Increase the burden on workers.

Patent Document 1 discloses a method of setting a patient position in a preparation room separate from a particle beam therapy room in which an irradiation nozzle is installed, for the purpose of shortening the time required for setting the patient position. In this method, the first patient is placed on the first bed in the preparation room, the fixture is attached, the patient position is roughly positioned using a laser pointer, and then the patient is placed on the first bed and the first patient is placed on the first bed. The patient is transported to the simulator room along the transport path of 1 to perform precise positioning of the patient. At this time, in the preparation room where the first patient is carried out, the next patient is placed on the second bed and the same patient position setting is performed. The first patient who has been precisely positioned in the simulator room is transported to the particle beam therapy room along the second transport path while being placed on the first bed to perform therapeutic irradiation. In this way, the work load in the particle beam therapy room is reduced, and the particle beam therapy is efficiently promoted.

Prior Document 2 discloses a method of transferring only a top plate portion on which a patient rests to a treatment table in a particle beam therapy room in which an irradiation nozzle is installed. In this method, the position of the patient placed on the top plate is set in the preparation room, the top plate on which the patient is placed is placed on the transport table, and the patient is transported from the preparation room to the treatment room. In the particle beam therapy room, only the top plate portion on which the patient is placed is transferred to the treatment table in the particle beam therapy room to perform particle beam therapy (FIGS. 9 (b) and 9 (c)).

Japanese Unexamined Patent Publication No. 2000-288102 Japanese Unexamined Patent Publication No. 2012-148526

With the technique of Patent Document 1, it is difficult to transport the patient to the particle beam therapy room while maintaining the state of the patient position setting performed in the preparation room, and the position of the patient shifts due to vibration or the like during the transfer, which is actually the case. Needs to be repositioned in the particle therapy room. In the technique of Patent Document 2, after the patient position is set in the preparation room, only the top plate on which the patient sits is transferred to the treatment table installed in the particle beam therapy room, but during the transfer. There is a risk that the position will shift. In addition, to always equip the particle beam therapy room with a fixed treatment table, it is necessary to make the particle beam therapy room larger by the amount of the treatment table, and for QA measurement by the treatment table at the time of QA measurement etc. There are problems such as hindering the installation of equipment.

In view of such circumstances, an object of the present invention is to provide a patient carrier, a particle beam irradiation system, and a particle beam irradiation method.

The present invention includes the following aspects.
[1]
The top plate on which the patient is placed and
Depending on the amount of translation and / or rotation of the top plate received from the drive unit that translates and / or rotates the top plate and the patient positioning device provided in the particle beam therapy room, the drive unit A patient transport trolley including a drive control unit that controls parallel movement and / or rotation of the top plate.
[2]
The drive unit is at least one of the short side direction (X axis) of the top plate, the long side direction (Y axis) of the top plate, and the direction perpendicular to the long side direction and the short side direction (Z axis). The top plate is moved in parallel along one direction and / or at least one of the short side direction (X axis), the long side direction (Y axis), and the vertical direction (Z axis). The patient transport trolley according to the above [1], which rotates the top plate around one direction.
[3]
The drive unit is formed along the short side direction (X axis) of the top plate, the long side direction (Y axis) of the top plate, and the directions perpendicular to the long side direction and the short side direction (Z axis). The top plate is translated and the top plate is rotated around the short side direction (X axis), the long side direction (Y axis), and the vertical direction (Z axis). Patient transport trolley described in.
[4]
The patient transport trolley according to any one of the above [1] to [3], further comprising a base lock mechanism for fixing the patient transport trolley to the particle beam therapy room.
[5]
The patient carrier according to any one of the above [1] to [4], wherein the particle beam is a proton beam, a neutron beam, or a heavy particle beam.
[6]
The patient transport trolley according to any one of the above [1] to [5] for transporting a patient to the particle beam therapy room and / or transporting a patient from the particle beam therapy room.
[7]
Particle beam irradiation device and
The patient positioning device installed in the particle beam therapy room and
A particle beam irradiation system including the patient transport trolley according to any one of the above [1] to [6].
[8]
The patient positioning device is
An X-ray imaging control unit (43) that generates an X-ray image of the patient by controlling an X-ray generator that irradiates the patient on the top plate with X-rays and an X-ray detector that detects the X-rays. )When,
A patient positioning unit (44) that compares the X-ray image with a reference X-ray image relating to a site to be irradiated with the particle beam of the patient and calculates the positional error between the two.
When the position error is not equal to or less than a predetermined allowable value, the translation amount and / or rotation amount of the top plate is calculated so as to reduce the position error, and the translation amount and / or rotation amount is transferred to the patient. The dolly control unit (45) that transmits to the dolly and
The particle beam irradiation system according to the above [7].
[9]
In the particle beam irradiation system according to the above [8], a method of irradiating a patient with a particle beam.
A step in which the patient transport trolley carrying the patient moves into the particle beam therapy room and is fixed to the particle beam therapy room.
A step in which the X-ray imaging control unit (43) controls the X-ray generator and the X-ray detector to generate an X-ray image of the patient.
A step in which the patient position setting unit (44) compares the X-ray image with the reference X-ray image and calculates the position error between the two.
The bogie control unit (45) calculates a translation amount and / or a rotation amount of the top plate that reduces the position error when the position error is not equal to or less than a predetermined allowable value, and the translation amount. And / or a step of transmitting the amount of rotation to the patient transport carriage, and / or
The drive control unit includes a step of controlling the parallel movement and / or rotation of the top plate by the drive unit according to the translation amount and / or the rotation amount.
The step in which the particle beam irradiator irradiates the patient with the particle beam,
The method described above.
[10]
A step in which the trolley control unit (45) receives an error signal from the patient transport trolley,
A step in which the patient positioning unit (44) transmits the error signal to the treatment control device (21) that controls the particle beam irradiation system.
The above-mentioned [9], wherein the treatment control device (21) further includes a step of stopping the irradiation of the particle beam to the patient through the particle beam irradiation control device (34) that controls the particle beam irradiation device. Method.
[11]
A patient transport trolley for transporting a patient to and / or transporting a patient from the particle beam therapy room.
The drive unit for parallel movement and / or rotation of the top plate and the drive unit for rotating the top plate according to the amount of parallel movement and / or rotation of the top plate received from the patient positioning device provided in the particle beam therapy room. The patient transport trolley including a drive control unit that controls translation and / or rotation of the top plate.
[12]
The patient positioning device is
An X-ray imaging control unit (43) that generates an X-ray image of the patient by controlling an X-ray generator that irradiates the patient on the top plate with X-rays and an X-ray detector that detects the X-rays. )When,
A patient positioning unit (44) that compares the X-ray image with a reference X-ray image relating to a site to be irradiated with the particle beam of the patient and calculates the positional error between the two.
When the position error is not equal to or less than a predetermined allowable value, the translation amount and / or rotation amount of the top plate is calculated so as to reduce the position error, and the translation amount and / or rotation amount is transferred to the patient. The dolly control unit (45) that transmits to the dolly and
The patient transport according to any one of the above [1] to [6] and [11] for transporting a patient to the particle beam therapy room and / or transporting a patient from the particle beam therapy room. Cart.

It is the schematic of the patient transport trolley which concerns on one Embodiment of this invention. It is a figure explaining the translation and rotation of a patient transport carriage. It is a control block diagram of a patient transport trolley. It is the schematic of the particle beam irradiation system including the patient transport trolley. It is the schematic of the particle beam irradiation system. It is a control block diagram of a particle beam irradiation system. It is a flowchart of patient position setting. It is a figure explaining the patient position setting. It is a figure explaining the conventional particle beam irradiation system.

[Patient carrier]
The patient transport trolley 10 according to the embodiment of the present invention will be described.

FIG. 1A is a schematic perspective view of the patient transport carriage 10, FIG. 1B is a schematic front view, and FIG. 1C is a schematic side view. As shown in FIG. 1, the short side direction of the rectangular top plate 11 is the X axis, the long side direction of the top plate 11 is the Y axis, and the height direction of the patient carrier 10 (perpendicular to the X axis and the Y axis). Direction) is the Z axis. The shape of the top plate 11 is not limited to a rectangular shape, but may be an elliptical shape (in this case, the short axis is the X axis in the short side direction and the long axis is the long side direction Y). The axis and the axis perpendicular to both axes are the Z axis), as long as the patient can ride stably.

The patient transport trolley 10 includes a top plate 11 on which a patient is placed, a drive unit 12 that translates and / or rotates the top plate 11 along each axis, and a drive control unit 13 that controls the drive unit 12. And a base unit 14 on which a top plate 11, a drive unit 12, and a drive control unit 13 are mounted and having a plurality of casters for movement. The medical staff can place the patient on the top plate 11 and push the patient transport cart 10 to stably transport the patient to the particle beam therapy room. The patient transport carriage 10 may be a self-propelled electric vehicle.

The patient transport trolley 10 further includes a top plate locking mechanism 15 configured to stably hold (lock) the positions of the top plate 11 (positions before and after translation, positions before and after rotation), and the patient transport trolley 10. Is provided with a base lock mechanism 16 for fixing the patient transport carriage 10 to the particle beam therapy room and fixing the patient transport carriage 10 so as not to move.

The top plate 11 includes a fixture (not shown) for fixing the patient's body. Fixtures include devices for fixing the patient's head, devices for fixing the patient's limbs, devices for fixing the patient's torso, and / or cushioning material formed along the shape of the patient's body. Further, the top plate 11 may be configured so that a part of the top plate 11 such as a portion corresponding to the patient's head, legs, and / or body can be inclined. Further, the top plate 11 may be provided with a breathing hole or the like so that the patient can be fixed even when the patient is lying down on the top plate 11.

The drive unit 12 includes various motors for moving the top plate 11 in parallel along the X-axis, Y-axis, and Z-axis according to the control by the drive control unit 13, and the top plate 11 on the X-axis, Y-axis, and Z. It is provided with various motors for rotating around a shaft and various mechanisms for transmitting the driving force of these motors to the top plate 11. Further, the drive unit 12 detects the rotation amount, rotation speed, rotation direction, etc. of each motor, and outputs a signal used to calculate the translation amount and / or the rotation amount of the top plate 11 to the drive control unit 13. Equipped with an encoder to rotate.

In the present embodiment, the mode in which the top plate 11 is translated by the drive unit 12 along the X-axis, the Y-axis, and the Z-axis and rotates around the X-axis, the Y-axis, and the Z-axis will be described. However, it is not limited to this. The number of axes on which the top plate 11 translates and rotates may be limited depending on the application. That is, in the drive unit 12, the top plate 11 can be translated along at least one of the X-axis, Y-axis, and Z-axis, and / or of the X-axis, Y-axis, and Z-axis. It may be configured to rotate around at least one axis.

Preferably, the drive unit 12 translates the top plate 11 along the X, Y, and Z axes, or rotates the top plate 11 around the X, Y, and Z axes. It is configured. More preferably, the drive unit 12 is configured to translate the top plate 11 along the X, Y, and Z axes and rotate it around the X, Y, and Z axes. ing.

FIG. 2A shows the translation of the top plate 11 along the X-axis, and FIG. 2B schematically shows the rotation of the top plate 11 around the X-axis. Similarly, (c) represents the translation of the top plate 11 along the Y-axis, (d) represents the rotation of the top plate 11 around the Y-axis, and (e) represents the rotation of the top plate 11 along the Z-axis. (F) represents the rotation of the top plate 11 around the Z axis.

The drive control unit 13 controls the drive unit 12 based on an interface such as an antenna for wireless communication or a port for wired communication with a patient position setting device (described later) provided in the particle beam therapy room, and a signal from the patient position setting device. It is a computer provided with a program and a processor (or ASIC, etc.) for the purpose of the program, and a storage unit for storing the program and various information.

FIG. 3 is a functional block diagram of the drive control unit 13. The drive control unit 13 is a functional unit realized by the cooperation of the processor and the program stored in the storage unit, and is a signal and a patient position setting device (reference numeral 40 described later) provided in the particle beam therapy room. The parallel movement amount (x, y) of the top plate 11 based on the output of the signal transmission / reception unit 131, the parallel movement control unit 132 and the rotation control unit 133 that control various motors of the drive unit 12, and the encoder of the drive unit 12. , Z) and / or has a moving rotation amount calculation unit 134 for calculating the rotation amount (θx, θy, θz).

The parallel movement control unit 132 includes an X-axis parallel movement motor that moves the flat plate 11 in parallel along the X-axis, a Y-axis parallel movement motor that moves the flat plate 11 in parallel along the Y-axis, and a flat plate 11 along the Z-axis. It controls a Z-axis translation motor that translates in parallel, and controls the amount of translation (x, y, z) of the flat plate 11 along each axis.

The rotation control unit 133 includes an X-axis rotation motor that rotates the flat plate 11 around the X-axis, a Y-axis rotation motor that rotates the flat plate 11 around the Y-axis, and a Z-axis that rotates the flat plate 11 around the Z-axis. The rotation motor is controlled, and the amount of rotation (θx, θy, θz) of the flat plate 11 around each axis is controlled.

The moving rotation amount calculation unit 134 receives information such as the rotation amount, the rotation speed, and the rotation direction of each motor from the encoder of the drive unit 12, and the parallel movement amount (x, y, z) and / or rotation of the top plate 11. The quantity (θx, θy, θz) is calculated. The calculated translation amount (x, y, z) and / or rotation amount (θx, θy, θz) information is sent to the patient position setting device (reference numeral 40 described later) through the signal transmission / reception unit 131.

As shown in FIG. 1, the top plate lock mechanism 15 may be provided on the base portion 14 to support the top plate 11, or may be provided in the drive portion 12 to apply the driving force of the motor to the top plate 11. It may be configured to lock the transmitting mechanism. The top plate locking mechanism 15 is configured to stably hold the top plate 11 so that it does not move except while the top plate 11 is moving and rotating in parallel. As a result, even if power is not supplied to the drive unit 12 for some reason, the top plate lock mechanism 15 can stably hold the top plate 11, so that the patient may fall from the top plate 11. The situation can be prevented. The top plate lock mechanism 15 may be able to lock the top plate 11 at a timing instructed by the medical staff.

The base lock mechanism 16 engages with a lock receiving portion (reference numeral 51 in FIG. 5) provided on the floor or wall of the particle beam therapy room, and fixes the patient transport carriage 10 to the particle beam therapy room so as not to move. It is a mechanism to do. The base lock mechanism 16 is stored in the base portion 14 so as not to interfere with the movement of the patient transport carriage 10, and protrudes from the base portion 14 when engaging with the lock receiving portion of the particle beam therapy room. It may be configured as follows. If the lock receiving portion 51 is provided on the wall of the particle beam therapy room, the base lock mechanism 16 may be provided on the side of the base portion 14 accordingly.

[Particle beam irradiation system]
The particle beam irradiation system 20 for particle beam therapy using the patient transport carriage 10 will be described with reference to FIGS. 4 to 6.

The particle beam irradiation system 20 includes a patient transport trolley 10, a particle beam irradiation device 30 that generates particle beams and irradiates the affected area with the particle beams, and a patient positioning device 40 provided in the particle beam therapy room 50.

A part of the patient positioning device 40 may be provided in the particle beam therapy room 50, and the remaining part may be provided in a place away from the particle beam therapy room 50. Therefore, if a part of the patient position setting device 40, that is, at least the X-ray generator 41 and the X-ray detector 42 described later are provided in the particle beam therapy room 50, the “patient position provided in the particle beam therapy room 50”. It becomes a setting device.

Further, FIG. 4A depicts a particle beam irradiation system 20 in which one particle beam irradiation device 30 is used in two particle beam therapy rooms 50, but one particle beam irradiation device 30 is used as one particle. The configuration may be used in the radiotherapy room 50, or the configuration may be used in three or more particle beam therapy rooms 50.

As shown in FIGS. 4 (b) and 4 (c), the patient transport trolley 10 carrying the patient is transported from the outside into the particle beam therapy room 50, and the lock receiving portion 51 provided on the floor of the particle beam therapy room 50. After engaging and fixing the base lock mechanism 16 to, it can be used as it is as a treatment table for particle beam therapy. Therefore, it is not necessary to move the patient from the conventional trolley for transporting the patient to the treatment table in the particle beam therapy room, and the burden on the patient is reduced. Further, since it is not necessary to always provide a fixed treatment table in the particle beam therapy room 50, the space of the particle beam therapy room 50 can be reduced, and the treatment table provided for QA measurement or the like is installed with the QA measurement device. There is no problem such as hindering.

The particle beam irradiation device 30 includes an accelerator 31 for generating particle beams, a vacuum duct for guiding the particle beams, various electromagnet devices 32, and an irradiation nozzle 33 for emitting the particle beams toward a portion to be irradiated by the patient.

The accelerator 31 is a device that generates a particle beam, for example, a synchrotron, a cyclotron, or a linear accelerator. The particle beam generated by the accelerator 31 passes through the vacuum duct and is guided to the irradiation nozzle 33 by various electromagnet devices 32. The particle beam is a proton beam, a neutron beam, or a heavy particle beam.

The electromagnet device 32 may include a quadrupole electromagnet device, a steering electromagnet device, a distribution electromagnet device, and / or a convergent electromagnet described in Japanese Patent No. 6364141 and Japanese Patent No. 6387476. The irradiation nozzle 33 is provided in the particle beam therapy room 50 and irradiates the particle beam toward the affected area. The irradiation nozzle 33 may be the irradiation nozzle described in Japanese Patent No. 6387476. Further, the electromagnet device 32 may include a beam slit device (not shown) for adjusting the shape and / or dose of the particle beam, and a steering electromagnet device for finely adjusting the beam position of the particle beam. The contents described in Japanese Patent No. 6364141 and Japanese Patent No. 6387476 are incorporated in the present application by reference.

The irradiation nozzle 33 includes a scanning electromagnet 331, a beam monitor 332, and energy modulation means 333.

The scanning electromagnet 331 is an electromagnet that finely adjusts the traveling direction of the particle beam emitted from the irradiation nozzle 33 by adjusting the amount of flowing current and the direction of the current, and enables scanning within a predetermined range. is there. The beam monitor 332 is a monitor that monitors particle beams and measures the dose, the position and flatness of the beam. The measured information is fed back from the beam monitor 332 to the particle beam irradiation control unit 34, and is used for controlling the scanning electromagnet 331 and accurately irradiating the particle beam. The energy modulation means 333 adjusts the energy of the particle beam to adjust the depth of reach of the particle beam in the patient, such as a range modulator, scatterer, ridge filter, patient collimator, patient bolus, or application. Such as

FIG. 5A is a view of the patient transport carriage 10 as viewed from the head side (front) of the patient, and FIG. 5B is a view as viewed from the side.

The patient positioning device 40 includes a plurality of X-ray generators 41a and 41b (collectively referred to as X-ray generators 41) that generate X-rays and irradiate the patient, and X-rays emitted from the X-ray generators 41a and 41b. The X-ray detectors 42a and 42b (collectively, the X-ray detector 42) are provided. The X-ray generator 41 is an X-ray tube, an X-ray generator for cone beam CT, and the like, and the X-ray detector 42 is a CCD area image sensor that detects X-rays emitted from the X-ray generator 41. It may be a CMOS area image sensor or a flat panel sensor. Instead of the X-ray generator 41 and the X-ray detector 42 that use X-rays, an MRI device that uses magnetic resonance is used to set the patient position between the particle beam and the affected area to be irradiated with the particle beam. It may be.

In FIG. 5, two sets of the X-ray generators 41a and 41b and the corresponding X-ray detectors 42a and 42b are drawn, but the set of the X-ray generator 41 and the X-ray detector 42 is shown. It may be one set or three or more sets. As the number of sets of the X-ray generator 41 and the X-ray detector 42 increases, the accuracy improves, but the processing becomes complicated, so that the number of sets is preferably two or three.

FIG. 6 is a control block diagram of the patient positioning device 40 and the particle beam irradiation system 20.

The patient position setting device 40 includes an X-ray imaging control unit 43, a patient position setting unit 44, and a trolley control unit 45. The X-ray imaging control unit 43, the patient position setting unit 44, and the trolley control unit 45 include various communication interfaces, programs and processors (or ASICs, etc.) for various controls, and a storage unit that stores the programs and various information. It is a functional unit that is realized by the cooperation of the processor and the program stored in the storage unit. The X-ray imaging control unit 43, the patient position setting unit 44, and the trolley control unit 45 may be provided in the particle beam therapy room 50, or may be provided at a location away from the particle beam therapy room 50, and may be provided for particle beam therapy. The X-ray generator 41, the X-ray detector 42, and the patient carrier 10 in the chamber 50 may be remotely controlled.

The X-ray imaging control unit 43 controls the X-ray generator 41 and the X-ray detector 42 in response to a command from the patient position setting unit 44 or at a predetermined cycle, generates an X-ray image of the patient, and generates an X-ray image of the patient. It is output to the patient position setting unit 44.

The patient position setting unit 44 compares the X-ray image received from the X-ray imaging control unit 43 with the reference X-ray image relating to the portion to be irradiated with the particle beam of the patient, which is stored in advance, and both of them. Calculate the amount of error (positional error). Then, the patient position setting unit 44 outputs information related to the position error between the X-ray image and the reference X-ray image to the trolley control unit 45.

Here, the reference X-ray image is an X-ray of a part (affected part) to be irradiated with the particle beam of the patient in the preparation room (or the particle beam therapy room 50) where the X-ray image can be imaged before performing the particle beam therapy. The image is acquired and stored in the patient positioning device 40. When particle beam therapy for the same affected area is performed multiple times, it is not necessary to acquire a reference X-ray image for each particle beam therapy if the reference X-ray image for the affected area is acquired first. For each particle therapy, a reference X-ray image may be acquired in a preparation room or the like before entering the particle therapy room 50.

Based on the positional error between the X-ray image and the reference X-ray image, the carriage control unit 45 translates the top plate 11 of the patient transport carriage 10 (or becomes zero) so that the positional error is reduced (or becomes zero). x, y, z) and / or the amount of rotation (θx, θy, θz) are calculated, and the information is transmitted to the drive control unit 13 of the patient transport carriage 10. Further, the trolley control unit 45 receives information on the amount of parallel movement (x, y, z) and / or the amount of rotation (θx, θy, θz) actually moved from the patient transport trolley 10, and receives the information from the patient position. Output to the setting unit 44.

The patient position setting unit 44 transmits information related to the patient position setting to the treatment control device 21 that controls the entire particle beam irradiation system 20. The information related to the patient position setting includes information on the amount of translation (x, y, z) and / or the amount of rotation (θx, θy, θz) input by the patient position setting unit 44 from the carriage control unit 45. If there is a problem with the patient transport trolley 10, an error signal is sent from the drive control unit 13 of the patient transport trolley 10 to the patient position setting unit 44 through the trolley control unit 45, and the patient position setting unit 44 sends an error signal. It is sent to the treatment control device 21. Upon receiving the error signal, the treatment control device 21 stops the irradiation of the particle beam through the particle beam irradiation control device 34 in consideration of the safety of the patient.

The treatment control device 21 issues a command to the particle beam irradiation control device 34 based on the information of the patient position setting, and the particle beam irradiation control device 34 controls the particle beam irradiation device 30 accordingly to control the particle beam dose. Adjust the shape and irradiation position.

In the particle beam irradiation system 20, the position where the particle beam is irradiated is determined by controlling the approach of controlling the top plate 11 of the patient carrier 10 to adjust the patient position and the particle beam irradiation device 30 (irradiation nozzle 33 or the like). It can be adjusted from both approaches that adjust the irradiation position, shape, energy, etc. of the particle beam. As a result, the accuracy of the irradiation position of the particle beam is improved, and the time spent for adjustment is also shortened.

The patient position is set before the particle beam therapy, but may be performed at a predetermined cycle during the particle beam therapy. As a result, even if the patient undergoes unintended movement or physiological body movement (breathing, etc.) during particle beam therapy, the irradiation position of the particle beam can be adjusted immediately.

FIG. 7 is a series of flowcharts for setting the patient position.

First, the patient undergoing particle beam therapy is placed on the top plate 11 of the patient transport carriage 10 in a preparation room or the like separate from the particle beam therapy room, and fixed with a fixture so that the patient does not move (step S1). ..

The patient transport trolley 10 carrying the patient is transported to the particle beam therapy room 50, and the base lock mechanism 16 of the patient transport trolley 10 is fixed to the lock receiving portion 51 of the particle beam therapy room 50 (step S2).

Using a laser pointer device (not shown) provided in the particle beam therapy room 50, rough positioning is performed at a position where the particle beam should be irradiated from the outside (on the skin) of the patient (step S3). Rough positioning may be performed by a medical personnel such as a doctor or a technician, or may be automatically performed by the laser pointer device, the treatment control device 21, and the patient positioning device 40 in cooperation with each other. You may. Further, step S3 may be performed not in the particle beam therapy room 50 but in another preparation room or the like (that is, step S3 is performed before step S2).

After rough positioning, the X-ray imaging control unit 43 of the patient positioning device 40 controls the X-ray generator 41 and the X-ray detector 42 to capture an X-ray image of the portion to be irradiated with the patient's particle beam. (Step S4). The patient position setting unit 44 compares the X-ray image acquired in step S4 with the reference X-ray image stored in advance, and calculates the position error between the two (step S5). A known image processing algorithm such as a phase correlation method can be used to calculate the position error.

The patient position setting unit 44 determines whether or not the position error calculated in step S5 is equal to or less than a predetermined allowable value (step S6). If it is below the permissible value (Yes in step S6), the patient position setting unit 44 sends information that the patient position setting is completed to the treatment control device 21, and particle beam therapy (irradiation of particle beam) is started.

When the permissible value is exceeded (No in step S6), the patient position setting unit 44 sends the position error information to the trolley control unit 45, and the trolley control unit 45 of the patient transport trolley 10 so as to reduce the position error. The amount of translation (x, y, z) and / or the amount of rotation (θx, θy, θz) of the top plate 11 is calculated, and the information is transmitted to the drive control unit 13 of the patient transport carriage 10 (step S7).

The drive control unit 13 of the patient transport trolley 10 controls the drive unit 12 to shift the top plate 11 by the amount of the received translation amount (x, y, z) and / or rotation amount (θx, θy, θz). Translate and / or rotate (step S8). Then, steps S4 to S8 are repeated until the position error becomes equal to or less than the allowable value.

The outline of the patient position setting will be described again with reference to FIG.

After the rough positioning, the X-ray image pickup control unit 43 takes an X-ray image of the patient and outputs it to the patient position setting unit 44. The patient position setting unit 44 compares the reference X-ray image stored in advance with the acquired X-ray image, calculates the position error between the two, and compares it with the permissible value. FIG. 8A shows a case where the position error is relatively large. Since the position error exceeds the permissible value, the carriage control unit 45 calculates the translation amount and / or the rotation amount of the top plate 11 of the patient transport carriage 10 so as to reduce (or reduce) the position error. The information is sent to the drive control unit 13 of the patient transport carriage 10. The drive control unit 13 translates and / or rotates the top plate 11 according to the received translation amount and / or rotation amount. After moving the top plate 11, an X-ray image is taken and the same process is repeated to gradually reduce the positional error (FIGS. 8 (a) to 8 (c)). In FIG. 8B, while the top plate 11 is translated (+ z1) along the Z axis, the top plate 11 is rotated (+ θ1 _y ) around the Y axis, and in FIG. 8C, the top plate 11 is moved to the Z axis. While the top plate 11 is translated (+ z2) along the Y-axis, the top plate 11 is rotated (+ θ2 _y ). Finally, when the position error is below the permissible value, the patient position setting is completed.

As described above, in the particle beam irradiation system 20 using the patient transport trolley 10 according to the present embodiment, it is not necessary to always provide a treatment table provided in the particle beam treatment room as in the conventional case, so that the particle beam therapy is performed. The space in the room can be reduced. This makes it easier to introduce a particle beam therapy system even in an existing hospital facility that has an X-ray diagnostic device but does not have sufficient space for placing the particle beam irradiation device. Further, in the particle beam irradiation system 20 using the patient transport trolley 10, the patient can enter the particle beam therapy room from the preparation room or the hospital room while riding on the patient transport trolley 10 and receive the particle beam therapy. It is possible to reduce the psychological burden on the patient due to the transfer to the treatment table or the transfer of the top plate. In addition, it is possible to reduce the deviation of the patient position due to the conventional transfer of the top plate. Further, even if there is a problem in the patient transport carriage 10 during the particle beam therapy, the error information is sent to the treatment control device 21 so that the particle beam irradiation can be safely stopped. .. In addition, the patient position can be set periodically even during particle beam therapy, and even if the patient's unintended movement or physiological body movement occurs, the particles can be moved by moving the top plate 11 accordingly. It is possible to compensate for the deviation of the position where the line is irradiated and to irradiate the particle beam to the correct irradiation site.

The dimensions, materials, shapes, relative positions of the components, etc. described in the above embodiments are arbitrary and are changed according to the structure of the apparatus to which the present invention is applied or various conditions. Further, the present invention is not limited to the above-described embodiments specifically described.

In the embodiments described, certain terms are used for clarity. However, the present invention is not intended to be limited to selected specific terms and examples. One of ordinary skill in the art will recognize that other equivalent components can be used and that other methods can be developed without departing from the broad concept of the invention.

Although the above description is intended for preferred embodiments of the invention, it should be noted that other modifications and modifications will be apparent to those skilled in the art and can be made without departing from the spirit or scope of the invention. In addition, the features described in relation to one embodiment of the present invention can be used in conjunction with other embodiments, even if not explicitly stated above.

10 Patient carrier 11 Top plate 12 Drive unit 13 Drive control unit 131 Signal transmission / reception unit 132 Parallel movement control unit 133 Rotation control unit 134 Movement rotation amount calculation unit 14 Base unit 15 Top plate lock mechanism 16 Base lock mechanism 20 Particle beam irradiation system 21 Treatment control device 30 Particle beam irradiation device 31 Accelerator 32 Electromagnet device 33 Irradiation nozzle 34 Particle beam irradiation control device 40 Patient position setting device 41 X-ray generator 42 X-ray detector 43 X-ray imaging control unit 44 Patient position setting unit 45 Cart control unit 50 Particle beam treatment room 51 Lock receiving unit

Claims (12)

The top plate on which the patient is placed and
Depending on the amount of translation and / or rotation of the top plate received from the drive unit that translates and / or rotates the top plate and the patient positioning device provided in the particle beam therapy room, the drive unit A patient transport trolley including a drive control unit that controls parallel movement and / or rotation of the top plate. The drive unit is at least one of the short side direction (X axis) of the top plate, the long side direction (Y axis) of the top plate, and the direction perpendicular to the long side direction and the short side direction (Z axis). The top plate is moved in parallel along one direction and / or at least one of the short side direction (X axis), the long side direction (Y axis), and the vertical direction (Z axis). The patient carrier according to claim 1, wherein the top plate is rotated around one direction. The drive unit is formed along the short side direction (X axis) of the top plate, the long side direction (Y axis) of the top plate, and the directions perpendicular to the long side direction and the short side direction (Z axis). The first aspect of claim 1, wherein the top plate is translated and the top plate is rotated around the short side direction (X axis), the long side direction (Y axis), and the vertical direction (Z axis). The described patient carrier. The patient transport trolley according to any one of claims 1 to 3, further comprising a base lock mechanism for fixing the patient transport trolley to the particle beam therapy room. The patient carrier according to any one of claims 1 to 4, wherein the particle beam is a proton beam, a neutron beam, or a heavy particle beam. The patient transport trolley according to any one of claims 1 to 5, for transporting a patient to the particle beam therapy room and / or for transporting a patient from the particle beam therapy room. Particle beam irradiation device and
The patient positioning device installed in the particle beam therapy room and
A particle beam irradiation system including the patient transport trolley according to any one of claims 1 to 6. The patient positioning device is
An X-ray imaging control unit (43) that generates an X-ray image of the patient by controlling an X-ray generator that irradiates the patient on the top plate with X-rays and an X-ray detector that detects the X-rays. )When,
A patient positioning unit (44) that compares the X-ray image with a reference X-ray image relating to a site to be irradiated with the particle beam of the patient and calculates the positional error between the two.
When the position error is not equal to or less than a predetermined allowable value, the translation amount and / or rotation amount of the top plate is calculated so as to reduce the position error, and the translation amount and / or rotation amount is transferred to the patient. The dolly control unit (45) that transmits to the dolly and
7. The particle beam irradiation system according to claim 7. A method of irradiating a patient with a particle beam in the particle beam irradiation system according to claim 8.
A step in which the patient transport trolley carrying the patient moves into the particle beam therapy room and is fixed to the particle beam therapy room.
A step in which the X-ray imaging control unit (43) controls the X-ray generator and the X-ray detector to generate an X-ray image of the patient.
A step in which the patient position setting unit (44) compares the X-ray image with the reference X-ray image and calculates the position error between the two.
The bogie control unit (45) calculates a translation amount and / or a rotation amount of the top plate that reduces the position error when the position error is not equal to or less than a predetermined allowable value, and the translation amount. And / or a step of transmitting the amount of rotation to the patient transport carriage, and / or
The drive control unit includes a step of controlling the parallel movement and / or rotation of the top plate by the drive unit according to the translation amount and / or rotation amount.
The step in which the particle beam irradiator irradiates the patient with the particle beam,
The method described above. A step in which the trolley control unit (45) receives an error signal from the patient transport trolley,
A step in which the patient positioning unit (44) transmits the error signal to the treatment control device (21) that controls the particle beam irradiation system.
The method according to claim 9, further comprising a step in which the treatment control device (21) stops the irradiation of the particle beam to the patient through the particle beam irradiation control device (34) that controls the particle beam irradiation device. .. A patient transport trolley for transporting a patient to and / or transporting a patient from the particle beam therapy room.
The drive unit for parallel movement and / or rotation of the top plate and the drive unit for rotating the top plate according to the amount of parallel movement and / or rotation of the top plate received from the patient positioning device provided in the particle beam therapy room. The patient transport trolley including a drive control unit that controls translation and / or rotation of the top plate. The patient positioning device is
An X-ray imaging control unit (43) that generates an X-ray image of the patient by controlling an X-ray generator that irradiates the patient on the top plate with X-rays and an X-ray detector that detects the X-rays. )When,
A patient positioning unit (44) that compares the X-ray image with a reference X-ray image relating to a site to be irradiated with the particle beam of the patient and calculates the positional error between the two.
When the position error is not equal to or less than a predetermined allowable value, the translation amount and / or rotation amount of the top plate is calculated so as to reduce the position error, and the translation amount and / or rotation amount is transferred to the patient. The dolly control unit (45) that transmits to the dolly and
The patient transport trolley according to any one of claims 1 to 6 and 11, wherein the patient is transported to the particle beam therapy room and / or the patient is transported from the particle beam therapy room.